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<div class="title">VisualizationData.h</div>  </div>
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<a href="../../df/d0d/_visualization_data_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef VISUALIZATION_DATA_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define VISUALIZATION_DATA_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="../../df/d0d/_visualization_data_8h.html#a2fca076ef439869c26733c62f8dba651">    8</a></span>&#160;<span class="preprocessor">#define VISUALIZATION_MAX_PATH_POINTS 2000</span></div><div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="../../df/d0d/_visualization_data_8h.html#a2dd58c717de2d51c670a2fb7eb263b87">    9</a></span>&#160;<span class="preprocessor">#define VISUALIZATION_MAX_PATHS 10</span></div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">   10</a></span>&#160;<span class="preprocessor">#define VISUALIZATION_MAX_ITEMS 100</span></div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="../../df/d0d/_visualization_data_8h.html#a4f268fd3bbf08c5323baa39ac8a0f017">   11</a></span>&#160;<span class="preprocessor">#define VISUALIZATION_MAX_CHEETAHS 0</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="../../d7/d94/struct_sphere_visualization.html">   15</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d7/d94/struct_sphere_visualization.html">SphereVisualization</a> {</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d7/d94/struct_sphere_visualization.html#aed59e2de0afb354c9884b50cacf1ec01">   16</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d7/d94/struct_sphere_visualization.html#aed59e2de0afb354c9884b50cacf1ec01">position</a>;</div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d7/d94/struct_sphere_visualization.html#aea69e24257acb3572997bf10ac849aa5">   17</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d7/d94/struct_sphere_visualization.html#aea69e24257acb3572997bf10ac849aa5">color</a>;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="../../d7/d94/struct_sphere_visualization.html#ae15c3cbfe6ba95ebf879911322fc6106">   18</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="../../d7/d94/struct_sphere_visualization.html#ae15c3cbfe6ba95ebf879911322fc6106">radius</a>;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;};</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d5/d38/struct_block_visualization.html">   21</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d5/d38/struct_block_visualization.html">BlockVisualization</a> {</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d5/d38/struct_block_visualization.html#a26fc4f3ea8bc078585cf0ffad9c40ddb">   22</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d5/d38/struct_block_visualization.html#a26fc4f3ea8bc078585cf0ffad9c40ddb">dimension</a>;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d5/d38/struct_block_visualization.html#a36f8d0393f0e30ae00a6ef8172cf5d4b">   23</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d5/d38/struct_block_visualization.html#a36f8d0393f0e30ae00a6ef8172cf5d4b">corner_position</a>;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d5/d38/struct_block_visualization.html#a1efc623209961dbda3ffacb8394043f9">   24</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d5/d38/struct_block_visualization.html#a1efc623209961dbda3ffacb8394043f9">rpy</a>;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d5/d38/struct_block_visualization.html#a53d11cfe2073612d72b2bf135e810549">   25</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d5/d38/struct_block_visualization.html#a53d11cfe2073612d72b2bf135e810549">color</a>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;};</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html">   28</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d4/d7b/struct_arrow_visualization.html">ArrowVisualization</a> {</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#acc67bc1e7c7b68a0dd34e274d3fba74d">   29</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#acc67bc1e7c7b68a0dd34e274d3fba74d">base_position</a>;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#adb09f8cc38aefd6032b4cddd49b55303">   30</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#adb09f8cc38aefd6032b4cddd49b55303">direction</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#a6a693a511a4598a5f1342d660d94058f">   31</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#a6a693a511a4598a5f1342d660d94058f">color</a>;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#a8398c9cd961da4ed3a90da46ec073a58">   32</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#a8398c9cd961da4ed3a90da46ec073a58">head_width</a>;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#ae555905f140ddf3b76d5b73decbd95f4">   33</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#ae555905f140ddf3b76d5b73decbd95f4">head_length</a>;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d4/d7b/struct_arrow_visualization.html#aac169a55027330b9a39e1d831252db4d">   34</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d4/d7b/struct_arrow_visualization.html#aac169a55027330b9a39e1d831252db4d">shaft_width</a>;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;};</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="../../d0/d6d/struct_cheetah_visualization.html">   37</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a> {</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="../../d0/d6d/struct_cheetah_visualization.html#a0ce991af43feb270e6f6c3ac31c027cd">   38</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12&lt;float&gt;</a> <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#a0ce991af43feb270e6f6c3ac31c027cd">q</a>;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../d0/d6d/struct_cheetah_visualization.html#acf5668b2a729eee91349f45010ac2940">   39</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat&lt;float&gt;</a> <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#acf5668b2a729eee91349f45010ac2940">quat</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="../../d0/d6d/struct_cheetah_visualization.html#a0f858c48a4b04052b7f4f9346f796e3a">   40</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#a0f858c48a4b04052b7f4f9346f796e3a">p</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="../../d0/d6d/struct_cheetah_visualization.html#a78d3a586c160f8ec983f65f1605bacb1">   41</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html#a78d3a586c160f8ec983f65f1605bacb1">color</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;};</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../d1/d06/struct_path_visualization.html">   44</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d1/d06/struct_path_visualization.html">PathVisualization</a> {</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="../../d1/d06/struct_path_visualization.html#a47542e6568029a8d49c182e192b6d942">   45</a></span>&#160;  <span class="keywordtype">size_t</span> num_points = 0;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../d1/d06/struct_path_visualization.html#a9bfc2fdcd8c81c4adaabfae7939d6025">   46</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../d1/d06/struct_path_visualization.html#a9bfc2fdcd8c81c4adaabfae7939d6025">color</a>;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="../../d1/d06/struct_path_visualization.html#aa42936e8c4d6308aafba7af06b34df74">   47</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../d7/d94/struct_sphere_visualization.html#aed59e2de0afb354c9884b50cacf1ec01">position</a>[<a class="code" href="../../df/d0d/_visualization_data_8h.html#a2fca076ef439869c26733c62f8dba651">VISUALIZATION_MAX_PATH_POINTS</a>];</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../d1/d06/struct_path_visualization.html#a9eba09d2e59d683c54c278953fb4d297">   48</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d1/d06/struct_path_visualization.html#a9eba09d2e59d683c54c278953fb4d297">clear</a>() {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    num_points = 0;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;};</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../df/da6/struct_cone_visualization.html">   53</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../df/da6/struct_cone_visualization.html">ConeVisualization</a> {</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../df/da6/struct_cone_visualization.html#a113f84cce5d8f273d247517f22cd2dca">   54</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../df/da6/struct_cone_visualization.html#a113f84cce5d8f273d247517f22cd2dca">point_position</a>;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../df/da6/struct_cone_visualization.html#a6eb728c0ea507b5147d45ac8fb821fa4">   55</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a> <a class="code" href="../../df/da6/struct_cone_visualization.html#a6eb728c0ea507b5147d45ac8fb821fa4">direction</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../df/da6/struct_cone_visualization.html#ac7cbde74fb410d14c1ee05fba6919149">   56</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;float&gt;</a> <a class="code" href="../../df/da6/struct_cone_visualization.html#ac7cbde74fb410d14c1ee05fba6919149">color</a>;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../df/da6/struct_cone_visualization.html#acd89586de3ff5b357d8b4ff351623170">   57</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="../../df/da6/struct_cone_visualization.html#acd89586de3ff5b357d8b4ff351623170">radius</a>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html">   60</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a> {</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#aa605c5959b96d1ec42a61ee126cfd7bb">   61</a></span>&#160;  <span class="keywordtype">size_t</span> num_paths = 0, num_arrows = 0, num_cones = 0, num_spheres = 0,</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a6a7fc3d189663c122f46f8249d0a905d">   62</a></span>&#160;         num_blocks = 0;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a308504b90f9041bf4f0401f1642f7d1c">   63</a></span>&#160;  <a class="code" href="../../d7/d94/struct_sphere_visualization.html">SphereVisualization</a> spheres[<a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>];</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#acafc627b43500644d9cb912826845022">   64</a></span>&#160;  <a class="code" href="../../d5/d38/struct_block_visualization.html">BlockVisualization</a> blocks[<a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>];</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#ac3804bfd5d4bcabb7c8bb071af926392">   65</a></span>&#160;  <a class="code" href="../../d4/d7b/struct_arrow_visualization.html">ArrowVisualization</a> arrows[<a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>];</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a3ad962607df43b9c3341fd66fccf7965">   66</a></span>&#160;  <a class="code" href="../../df/da6/struct_cone_visualization.html">ConeVisualization</a> cones[<a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>];</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#ae2682101eb8ddbe0e7e0fc064cdc3747">   67</a></span>&#160;  <a class="code" href="../../d1/d06/struct_path_visualization.html">PathVisualization</a> paths[<a class="code" href="../../df/d0d/_visualization_data_8h.html#a2dd58c717de2d51c670a2fb7eb263b87">VISUALIZATION_MAX_PATHS</a>];</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a91271be43d61b7611b9487270f5e74e2">   69</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d3/d60/struct_visualization_data.html#a91271be43d61b7611b9487270f5e74e2">clear</a>() {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    num_paths = 0, num_arrows = 0, num_cones = 0, num_spheres = 0, num_blocks = 0;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#abf7305d910ae32256d90e2d7537a4ec3">   73</a></span>&#160;  <a class="code" href="../../d7/d94/struct_sphere_visualization.html">SphereVisualization</a>* <a class="code" href="../../d3/d60/struct_visualization_data.html#abf7305d910ae32256d90e2d7537a4ec3">addSphere</a>() {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span>(num_spheres &lt; <a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">return</span> &amp;spheres[num_spheres++];</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a8fdc1b36f8a7d88be09490a199a71d8c">   80</a></span>&#160;  <a class="code" href="../../d5/d38/struct_block_visualization.html">BlockVisualization</a>* <a class="code" href="../../d3/d60/struct_visualization_data.html#a8fdc1b36f8a7d88be09490a199a71d8c">addBlock</a>() {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span>(num_blocks &lt; <a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">return</span> &amp;blocks[num_blocks++];</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a5ba75ab00b41c44054d452afde19d5c1">   87</a></span>&#160;  <a class="code" href="../../d4/d7b/struct_arrow_visualization.html">ArrowVisualization</a>* <a class="code" href="../../d3/d60/struct_visualization_data.html#a5ba75ab00b41c44054d452afde19d5c1">addArrow</a>() {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">if</span>(num_arrows &lt; <a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>) {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordflow">return</span> &amp;arrows[num_arrows++];</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#a0a2176fd72dfc65928a218857862692b">   94</a></span>&#160;  <a class="code" href="../../df/da6/struct_cone_visualization.html">ConeVisualization</a>* <a class="code" href="../../d3/d60/struct_visualization_data.html#a0a2176fd72dfc65928a218857862692b">addCone</a>() {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span>(num_cones &lt; <a class="code" href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a>) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">return</span> &amp;cones[num_cones++];</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="../../d3/d60/struct_visualization_data.html#aa141ab411fff0d98dc49d9c7ffd6ddef">  101</a></span>&#160;  <a class="code" href="../../d1/d06/struct_path_visualization.html">PathVisualization</a>* <a class="code" href="../../d3/d60/struct_visualization_data.html#aa141ab411fff0d98dc49d9c7ffd6ddef">addPath</a>() {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span>(num_paths &lt; <a class="code" href="../../df/d0d/_visualization_data_8h.html#a2dd58c717de2d51c670a2fb7eb263b87">VISUALIZATION_MAX_PATHS</a>) {</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">auto</span>* path = &amp;paths[num_paths++];</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      path-&gt;<a class="code" href="../../d1/d06/struct_path_visualization.html#a9eba09d2e59d683c54c278953fb4d297">clear</a>();</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">return</span> path;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;};</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="struct_cheetah_visualization_html_a0ce991af43feb270e6f6c3ac31c027cd"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#a0ce991af43feb270e6f6c3ac31c027cd">CheetahVisualization::q</a></div><div class="ttdeci">Vec12&lt; float &gt; q</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00038">VisualizationData.h:38</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00037">VisualizationData.h:37</a></div></div>
<div class="ttc" id="struct_block_visualization_html_a1efc623209961dbda3ffacb8394043f9"><div class="ttname"><a href="../../d5/d38/struct_block_visualization.html#a1efc623209961dbda3ffacb8394043f9">BlockVisualization::rpy</a></div><div class="ttdeci">Vec3&lt; float &gt; rpy</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00024">VisualizationData.h:24</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html">ArrowVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00028">VisualizationData.h:28</a></div></div>
<div class="ttc" id="struct_cone_visualization_html_a113f84cce5d8f273d247517f22cd2dca"><div class="ttname"><a href="../../df/da6/struct_cone_visualization.html#a113f84cce5d8f273d247517f22cd2dca">ConeVisualization::point_position</a></div><div class="ttdeci">Vec3&lt; float &gt; point_position</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00054">VisualizationData.h:54</a></div></div>
<div class="ttc" id="struct_cone_visualization_html_ac7cbde74fb410d14c1ee05fba6919149"><div class="ttname"><a href="../../df/da6/struct_cone_visualization.html#ac7cbde74fb410d14c1ee05fba6919149">ConeVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00056">VisualizationData.h:56</a></div></div>
<div class="ttc" id="struct_path_visualization_html_a9eba09d2e59d683c54c278953fb4d297"><div class="ttname"><a href="../../d1/d06/struct_path_visualization.html#a9eba09d2e59d683c54c278953fb4d297">PathVisualization::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00048">VisualizationData.h:48</a></div></div>
<div class="ttc" id="struct_block_visualization_html_a53d11cfe2073612d72b2bf135e810549"><div class="ttname"><a href="../../d5/d38/struct_block_visualization.html#a53d11cfe2073612d72b2bf135e810549">BlockVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00025">VisualizationData.h:25</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a8686862774f7c3186c7920447f4de282"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a8686862774f7c3186c7920447f4de282">Quat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00058">cppTypes.h:58</a></div></div>
<div class="ttc" id="struct_block_visualization_html_a36f8d0393f0e30ae00a6ef8172cf5d4b"><div class="ttname"><a href="../../d5/d38/struct_block_visualization.html#a36f8d0393f0e30ae00a6ef8172cf5d4b">BlockVisualization::corner_position</a></div><div class="ttdeci">Vec3&lt; float &gt; corner_position</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00023">VisualizationData.h:23</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_a6a693a511a4598a5f1342d660d94058f"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#a6a693a511a4598a5f1342d660d94058f">ArrowVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00031">VisualizationData.h:31</a></div></div>
<div class="ttc" id="struct_visualization_data_html_abf7305d910ae32256d90e2d7537a4ec3"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#abf7305d910ae32256d90e2d7537a4ec3">VisualizationData::addSphere</a></div><div class="ttdeci">SphereVisualization * addSphere()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00073">VisualizationData.h:73</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_visualization_data_8h_html_a2dd58c717de2d51c670a2fb7eb263b87"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html#a2dd58c717de2d51c670a2fb7eb263b87">VISUALIZATION_MAX_PATHS</a></div><div class="ttdeci">#define VISUALIZATION_MAX_PATHS</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00009">VisualizationData.h:9</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html_acf5668b2a729eee91349f45010ac2940"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#acf5668b2a729eee91349f45010ac2940">CheetahVisualization::quat</a></div><div class="ttdeci">Quat&lt; float &gt; quat</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00039">VisualizationData.h:39</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html_a0f858c48a4b04052b7f4f9346f796e3a"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#a0f858c48a4b04052b7f4f9346f796e3a">CheetahVisualization::p</a></div><div class="ttdeci">Vec3&lt; float &gt; p</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00040">VisualizationData.h:40</a></div></div>
<div class="ttc" id="struct_path_visualization_html_a9bfc2fdcd8c81c4adaabfae7939d6025"><div class="ttname"><a href="../../d1/d06/struct_path_visualization.html#a9bfc2fdcd8c81c4adaabfae7939d6025">PathVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00046">VisualizationData.h:46</a></div></div>
<div class="ttc" id="struct_cone_visualization_html_a6eb728c0ea507b5147d45ac8fb821fa4"><div class="ttname"><a href="../../df/da6/struct_cone_visualization.html#a6eb728c0ea507b5147d45ac8fb821fa4">ConeVisualization::direction</a></div><div class="ttdeci">Vec3&lt; float &gt; direction</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00055">VisualizationData.h:55</a></div></div>
<div class="ttc" id="struct_cone_visualization_html"><div class="ttname"><a href="../../df/da6/struct_cone_visualization.html">ConeVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00053">VisualizationData.h:53</a></div></div>
<div class="ttc" id="_visualization_data_8h_html_a2fca076ef439869c26733c62f8dba651"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html#a2fca076ef439869c26733c62f8dba651">VISUALIZATION_MAX_PATH_POINTS</a></div><div class="ttdeci">#define VISUALIZATION_MAX_PATH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00008">VisualizationData.h:8</a></div></div>
<div class="ttc" id="struct_sphere_visualization_html_aea69e24257acb3572997bf10ac849aa5"><div class="ttname"><a href="../../d7/d94/struct_sphere_visualization.html#aea69e24257acb3572997bf10ac849aa5">SphereVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00017">VisualizationData.h:17</a></div></div>
<div class="ttc" id="struct_visualization_data_html_aa141ab411fff0d98dc49d9c7ffd6ddef"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#aa141ab411fff0d98dc49d9c7ffd6ddef">VisualizationData::addPath</a></div><div class="ttdeci">PathVisualization * addPath()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00101">VisualizationData.h:101</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html_a78d3a586c160f8ec983f65f1605bacb1"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html#a78d3a586c160f8ec983f65f1605bacb1">CheetahVisualization::color</a></div><div class="ttdeci">Vec4&lt; float &gt; color</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00041">VisualizationData.h:41</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_a8398c9cd961da4ed3a90da46ec073a58"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#a8398c9cd961da4ed3a90da46ec073a58">ArrowVisualization::head_width</a></div><div class="ttdeci">float head_width</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00032">VisualizationData.h:32</a></div></div>
<div class="ttc" id="struct_sphere_visualization_html"><div class="ttname"><a href="../../d7/d94/struct_sphere_visualization.html">SphereVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00015">VisualizationData.h:15</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a87f228860242acc66da2e58086d18cec"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; Vec12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00042">cppTypes.h:42</a></div></div>
<div class="ttc" id="struct_path_visualization_html"><div class="ttname"><a href="../../d1/d06/struct_path_visualization.html">PathVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00044">VisualizationData.h:44</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="struct_sphere_visualization_html_ae15c3cbfe6ba95ebf879911322fc6106"><div class="ttname"><a href="../../d7/d94/struct_sphere_visualization.html#ae15c3cbfe6ba95ebf879911322fc6106">SphereVisualization::radius</a></div><div class="ttdeci">double radius</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00018">VisualizationData.h:18</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_acc67bc1e7c7b68a0dd34e274d3fba74d"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#acc67bc1e7c7b68a0dd34e274d3fba74d">ArrowVisualization::base_position</a></div><div class="ttdeci">Vec3&lt; float &gt; base_position</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00029">VisualizationData.h:29</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_ae555905f140ddf3b76d5b73decbd95f4"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#ae555905f140ddf3b76d5b73decbd95f4">ArrowVisualization::head_length</a></div><div class="ttdeci">float head_length</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00033">VisualizationData.h:33</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_adb09f8cc38aefd6032b4cddd49b55303"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#adb09f8cc38aefd6032b4cddd49b55303">ArrowVisualization::direction</a></div><div class="ttdeci">Vec3&lt; float &gt; direction</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00030">VisualizationData.h:30</a></div></div>
<div class="ttc" id="struct_visualization_data_html_a5ba75ab00b41c44054d452afde19d5c1"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#a5ba75ab00b41c44054d452afde19d5c1">VisualizationData::addArrow</a></div><div class="ttdeci">ArrowVisualization * addArrow()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00087">VisualizationData.h:87</a></div></div>
<div class="ttc" id="struct_block_visualization_html_a26fc4f3ea8bc078585cf0ffad9c40ddb"><div class="ttname"><a href="../../d5/d38/struct_block_visualization.html#a26fc4f3ea8bc078585cf0ffad9c40ddb">BlockVisualization::dimension</a></div><div class="ttdeci">Vec3&lt; float &gt; dimension</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00022">VisualizationData.h:22</a></div></div>
<div class="ttc" id="_visualization_data_8h_html_ac189f928522319abd82d07f3ad9f36ac"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html#ac189f928522319abd82d07f3ad9f36ac">VISUALIZATION_MAX_ITEMS</a></div><div class="ttdeci">#define VISUALIZATION_MAX_ITEMS</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00010">VisualizationData.h:10</a></div></div>
<div class="ttc" id="struct_visualization_data_html_a0a2176fd72dfc65928a218857862692b"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#a0a2176fd72dfc65928a218857862692b">VisualizationData::addCone</a></div><div class="ttdeci">ConeVisualization * addCone()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00094">VisualizationData.h:94</a></div></div>
<div class="ttc" id="struct_visualization_data_html_a91271be43d61b7611b9487270f5e74e2"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#a91271be43d61b7611b9487270f5e74e2">VisualizationData::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00069">VisualizationData.h:69</a></div></div>
<div class="ttc" id="struct_block_visualization_html"><div class="ttname"><a href="../../d5/d38/struct_block_visualization.html">BlockVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00021">VisualizationData.h:21</a></div></div>
<div class="ttc" id="struct_visualization_data_html_a8fdc1b36f8a7d88be09490a199a71d8c"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html#a8fdc1b36f8a7d88be09490a199a71d8c">VisualizationData::addBlock</a></div><div class="ttdeci">BlockVisualization * addBlock()</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00080">VisualizationData.h:80</a></div></div>
<div class="ttc" id="struct_arrow_visualization_html_aac169a55027330b9a39e1d831252db4d"><div class="ttname"><a href="../../d4/d7b/struct_arrow_visualization.html#aac169a55027330b9a39e1d831252db4d">ArrowVisualization::shaft_width</a></div><div class="ttdeci">float shaft_width</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00034">VisualizationData.h:34</a></div></div>
<div class="ttc" id="struct_sphere_visualization_html_aed59e2de0afb354c9884b50cacf1ec01"><div class="ttname"><a href="../../d7/d94/struct_sphere_visualization.html#aed59e2de0afb354c9884b50cacf1ec01">SphereVisualization::position</a></div><div class="ttdeci">Vec3&lt; float &gt; position</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00016">VisualizationData.h:16</a></div></div>
<div class="ttc" id="struct_cone_visualization_html_acd89586de3ff5b357d8b4ff351623170"><div class="ttname"><a href="../../df/da6/struct_cone_visualization.html#acd89586de3ff5b357d8b4ff351623170">ConeVisualization::radius</a></div><div class="ttdeci">double radius</div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00057">VisualizationData.h:57</a></div></div>
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